12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix unittest for numericalHessian

release/4.3a0
Duy-Nguyen Ta 2011-10-02 20:27:26 +00:00
parent 7903b023ff
commit 3271743ca4
1 changed files with 5 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
gtsam/base/tests/testNumericalDerivative.cpp
View File

@ -68,17 +68,15 @@ double f3(const LieVector& x1, const LieVector& x2) {
/* ************************************************************************* */
TEST_UNSAFE(testNumericalDerivative, numericalHessian211) {
LieVector center1(1, 1.0), center2(1, 1.0);
LieVector center1(1, 1.0), center2(1, 5.0);
Matrix expected12 = Matrix_(1,1,-sin(center1(0))*cos(center2(0)));
Matrix actual12 = numericalHessian212(f3, center1, center2);
EXPECT(assert_equal(expected12, actual12, 1e-5));
Matrix expected11 = Matrix_(1,1,-cos(center1(0))*sin(center2(0)));
Matrix expected11 = Matrix_(1,1,-sin(center1(0))*cos(center2(0)));
Matrix actual11 = numericalHessian211(f3, center1, center2);
EXPECT(assert_equal(expected11, actual11, 1e-5));
Matrix expected12 = Matrix_(1,1,-cos(center1(0))*sin(center2(0)));
Matrix actual12 = numericalHessian212(f3, center1, center2);
EXPECT(assert_equal(expected12, actual12, 1e-5));
Matrix expected22 = Matrix_(1,1,-sin(center1(0))*cos(center2(0)));
Matrix actual22 = numericalHessian222(f3, center1, center2);